<mujoco model="256-plain-pulley-flat-belt">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="p_a" pos="0 0 0"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="2" diaginertia="0.004316666667 0.00648 0.004316666667"/><geom name="p_a_rim" condim="3" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.09" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="p_b" pos="0.3 0 0"><joint name="j_b" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.0010675 0.001452 0.0010675"/><geom name="p_b_rim" condim="3" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.055" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="belt_l000" pos="-0.092 0 0" quat="0.7240687002 0 0.6897278575 0">
<freejoint name="belt_root0"/><inertial pos="0.004465681834 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210428928e-9 1.188477939e-7"/><geom name="belt_l000_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l001" pos="0.008931363668 0 0" quat="0.998821516 0 -0.04853431 0"><joint name="belt_l001_s" type="slide" axis="0.9952888415 0 -0.09695422617" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465679532 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210421019e-9 1.18847786e-7"/><geom name="belt_l001_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l002" pos="0.008931359064 0 0" quat="0.9988214381 0 -0.04853591147 0"><joint name="belt_l002_s" type="slide" axis="0.9952885306 0 -0.0969574178" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465681626 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210428215e-9 1.188477932e-7"/><geom name="belt_l002_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l003" pos="0.008931363253 0 0" quat="0.9988207844 0 -0.04854936372 0"><joint name="belt_l003_s" type="slide" axis="0.9952859186 0 -0.0969842271" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465681391 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210427407e-9 1.188477924e-7"/><geom name="belt_l003_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l004" pos="0.008931362783 0 0" quat="0.998821516 0 -0.04853430995 0"><joint name="belt_l004_s" type="slide" axis="0.9952888415 0 -0.09695422608" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465679579 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210421181e-9 1.188477861e-7"/><geom name="belt_l004_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l005" pos="0.008931359158 0 0" quat="0.9988213603 0 -0.04853751295 0"><joint name="belt_l005_s" type="slide" axis="0.9952882197 0 -0.09696060942" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465681463 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210427653e-9 1.188477926e-7"/><geom name="belt_l005_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l006" pos="0.008931362926 0 0" quat="0.9988208622 0 -0.04854776228 0"><joint name="belt_l006_s" type="slide" axis="0.9952862296 0 -0.09698103556" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465680996 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210426048e-9 1.18847791e-7"/><geom name="belt_l006_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l007" pos="0.008931361992 0 0" quat="0.998821516 0 -0.04853430991 0"><joint name="belt_l007_s" type="slide" axis="0.9952888415 0 -0.09695422601" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465679673 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210421505e-9 1.188477865e-7"/><geom name="belt_l007_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l008" pos="0.008931359347 0 0" quat="0.9988212825 0 -0.04853911442 0"><joint name="belt_l008_s" type="slide" axis="0.9952879087 0 -0.09696380103" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465681343 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210427243e-9 1.188477922e-7"/><geom name="belt_l008_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l009" pos="0.008931362687 0 0" quat="0.99882094 0 -0.04854616084 0"><joint name="belt_l009_s" type="slide" axis="0.9952865405 0 -0.09697784401" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465680647 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210424851e-9 1.188477898e-7"/><geom name="belt_l009_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l010" pos="0.008931361295 0 0" quat="0.998821516 0 -0.04853430989 0"><joint name="belt_l010_s" type="slide" axis="0.9952888415 0 -0.09695422596" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l010_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465679815 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21042199e-9 1.188477869e-7"/><geom name="belt_l010_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l011" pos="0.008931359629 0 0" quat="0.9988212047 0 -0.04854071588 0"><joint name="belt_l011_s" type="slide" axis="0.9952875978 0 -0.09696699263" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465681268 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210426985e-9 1.188477919e-7"/><geom name="belt_l011_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l012" pos="0.008931362537 0 0" quat="0.9988210179 0 -0.04854455939 0"><joint name="belt_l012_s" type="slide" axis="0.9952868515 0 -0.09697465245" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465680346 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210423815e-9 1.188477888e-7"/><geom name="belt_l012_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l013" pos="0.008931360692 0 0" quat="0.998821516 0 -0.04853430987 0"><joint name="belt_l013_s" type="slide" axis="0.9952888415 0 -0.09695422593" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465680003 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210422637e-9 1.188477876e-7"/><geom name="belt_l013_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l014" pos="0.008931360006 0 0" quat="0.9988211268 0 -0.04854231734 0"><joint name="belt_l014_s" type="slide" axis="0.9952872869 0 -0.09697018421" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465681237 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210426878e-9 1.188477918e-7"/><geom name="belt_l014_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="belt_l015" pos="-0.01046734914 0 -0.09140253605" quat="0.9994644544 0 0.03272314729 0">
<freejoint name="belt_root1"/><inertial pos="0.004465680092 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210422942e-9 1.188477879e-7"/><geom name="belt_l015_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l016" pos="0.008931360183 0 0" quat="0.998821516 0 -0.04853430987 0"><joint name="belt_l016_s" type="slide" axis="0.9952888415 0 -0.09695422593" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465680238 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210423446e-9 1.188477884e-7"/><geom name="belt_l016_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l017" pos="0.008931360477 0 0" quat="0.9992330002 0 -0.03915879609 0"><joint name="belt_l017_s" type="slide" axis="0.9969331774 0 -0.07825752261" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467165862 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21552864e-9 1.188528936e-7"/><geom name="belt_l017_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l018" pos="0.008934331723 0 0" quat="0.9999939682 0 -0.003473264996 0"><joint name="belt_l018_s" type="slide" axis="0.9999758729 0 -0.006946488093" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l018_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l019" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l019_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l019_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l020" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l020_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l020_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l020_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l021" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l021_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l021_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l022" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l022_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l022_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l023" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l023_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l023_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l023_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l024" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l024_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l024_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l024_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l025" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l025_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l025_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l025_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l026" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l026_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l026_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l026_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l027" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l027_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l027_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l027_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l028" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l028_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l028_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l028_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l030" pos="0.122738447 0 -0.07821462738" quat="0.9982913223 0 -0.05843317321 0">
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<body name="belt_l042" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l042_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l042_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l042_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l044" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l044_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l044_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l044_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l045" pos="0.2558463581 0 -0.06257859559" quat="0.9982913223 0 -0.05843317321 0">
<freejoint name="belt_root3"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l045_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l046" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l046_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l046_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l046_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l060" pos="0.357 0 0" quat="0.6788599104 0 -0.7342678136 0">
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<body name="belt_l071" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l071_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l071_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l071_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l074" pos="0.008934875854 0 0" quat="1 0 0 0"><joint name="belt_l074_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l074_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l074_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l075" pos="0.2558463581 0 0.06257859559" quat="-0.05843317321 0 0.9982913223 0">
<freejoint name="belt_root5"/><inertial pos="0.004467437927 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21646375e-9 1.188538287e-7"/><geom name="belt_l075_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l090" pos="0.122738447 0 0.07821462738" quat="-0.05843317321 0 0.9982913223 0">
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<body name="belt_l102" pos="0.008934875854 0 0" quat="0.9999939682 0 -0.003473264996 0"><joint name="belt_l102_s" type="slide" axis="0.9999758729 0 -0.006946488093" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l102_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004467165862 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.21552864e-9 1.188528936e-7"/><geom name="belt_l102_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l103" pos="0.008934331723 0 0" quat="0.9992330002 0 -0.03915879609 0"><joint name="belt_l103_s" type="slide" axis="0.9969331774 0 -0.07825752261" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l103_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465680238 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210423446e-9 1.188477884e-7"/><geom name="belt_l103_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l104" pos="0.008931360477 0 0" quat="0.998821516 0 -0.04853430987 0"><joint name="belt_l104_s" type="slide" axis="0.9952888415 0 -0.09695422593" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l104_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465680092 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210422942e-9 1.188477879e-7"/><geom name="belt_l104_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l105" pos="-0.01046734914 0 0.09140253605" quat="0.0812015308 0 0.9966977031 0">
<freejoint name="belt_root7"/><inertial pos="0.004465681237 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210426878e-9 1.188477918e-7"/><geom name="belt_l105_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l115" pos="0.008931362926 0 0" quat="0.9988213603 0 -0.04853751295 0"><joint name="belt_l115_s" type="slide" axis="0.9952882197 0 -0.09696060942" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l115_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465679579 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210421181e-9 1.188477861e-7"/><geom name="belt_l115_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l116" pos="0.008931359158 0 0" quat="0.998821516 0 -0.04853430995 0"><joint name="belt_l116_s" type="slide" axis="0.9952888415 0 -0.09695422608" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l116_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465681391 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210427407e-9 1.188477924e-7"/><geom name="belt_l116_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l117" pos="0.008931362783 0 0" quat="0.9988207844 0 -0.04854936372 0"><joint name="belt_l117_s" type="slide" axis="0.9952859186 0 -0.0969842271" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l117_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465681626 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210428215e-9 1.188477932e-7"/><geom name="belt_l117_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l118" pos="0.008931363253 0 0" quat="0.9988214381 0 -0.04853591147 0"><joint name="belt_l118_s" type="slide" axis="0.9952885306 0 -0.0969574178" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l118_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465679532 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210421019e-9 1.18847786e-7"/><geom name="belt_l118_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l119" pos="0.008931359064 0 0" quat="0.998821516 0 -0.04853431 0"><joint name="belt_l119_s" type="slide" axis="0.9952888415 0 -0.09695422617" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l119_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004465681834 0 0" mass="0.001154077526" diaginertia="1.12714905e-7 9.210428928e-9 1.188477939e-7"/><geom name="belt_l119_c" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l014" body2="belt_l015" anchor="0.008931362475 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l029" body2="belt_l030" anchor="0.008934875854 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l044" body2="belt_l045" anchor="0.008934875854 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l059" body2="belt_l060" anchor="0.008925732815 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l074" body2="belt_l075" anchor="0.008934875854 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l089" body2="belt_l090" anchor="0.008934875854 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l104" body2="belt_l105" anchor="0.008931360183 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l119" body2="belt_l000" anchor="0.008931363668 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>

<actuator><velocity name="drive" joint="j_a" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
